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<h1>src/qvmath/qvprojective.h File Reference</h1>
<p>File from the QVision library.  
<a href="#_details">More...</a></p>
<code>#include &lt;qvmath.h&gt;</code><br/>
<code>#include &lt;QVMatrix&gt;</code><br/>
<code>#include &lt;QHash&gt;</code><br/>
<code>#include &lt;QVEuclideanMapping3&gt;</code><br/>
<code>#include &lt;QV3DPointF&gt;</code><br/>
<code>#include &lt;QVCameraPose&gt;</code><br/>
<code>#include &lt;QVImage&gt;</code><br/>
<code>#include &lt;qvipp.h&gt;</code><br/>
<code>#include &lt;qvmath/qvepipolar.h&gt;</code><br/>
<code>#include &lt;<a class="el" href="qvreprojectionerror_8h_source.html">qvmath/qvreprojectionerror.h</a>&gt;</code><br/>
<code>#include &lt;qvnumericalanalysis.h&gt;</code><br/>

<p><a href="qvmath_2qvprojective_8h_source.html">Go to the source code of this file.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga72b520d418b7835458269a7d803c6668">computeProjectiveHomography</a> (const QList&lt; <a class="el" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a> &gt; &amp;matchings, <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;H)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Obtains a planar homography from a list of point correspondences.  <a href="group__qvprojectivegeometry.html#ga72b520d418b7835458269a7d803c6668"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVMatrix.html">QVMatrix</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga5d0a08b6088fe1fa90baa765cff776a2">computeProjectiveHomography</a> (const QList&lt; <a class="el" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a> &gt; &amp;matchings)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Obtains a planar homography from a list of point correspondences.  <a href="group__qvprojectivegeometry.html#ga5d0a08b6088fe1fa90baa765cff776a2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVMatrix.html">QVMatrix</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#gae622eb1823659bb0d8dd9528f22e2f1c">computeAffineHomography</a> (const QList&lt; <a class="el" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a> &gt; &amp;matchings)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Obtains an affine homography from a list of point correspondences.  <a href="group__qvprojectivegeometry.html#gae622eb1823659bb0d8dd9528f22e2f1c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVMatrix.html">QVMatrix</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga06a3ff264f0821da24ee07ce73c86bd6">computeSimilarHomography</a> (const QList&lt; <a class="el" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a> &gt; &amp;matchings)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Obtains a similar homography from a set of inter-image point matchings.  <a href="group__qvprojectivegeometry.html#ga06a3ff264f0821da24ee07ce73c86bd6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVMatrix.html">QVMatrix</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga61fbad744f81531ae01df55e48909a5b">cvFindFundamentalMat</a> (const QList&lt; <a class="el" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a> &gt; &amp;matchings)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Obtains the fundamental matrix between two images, using the 8 point algorithm.  <a href="group__qvprojectivegeometry.html#ga61fbad744f81531ae01df55e48909a5b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">QPointF&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga305b04da4d0035c3b4de07ff381b9e1c">applyHomography</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;homography, const QPointF &amp;point)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Maps a point using an homography.  <a href="group__qvprojectivegeometry.html#ga305b04da4d0035c3b4de07ff381b9e1c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">QList&lt; QPointF &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga57f5860ede7f1c5cc138a08a9770debd">applyHomography</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;homography, const QList&lt; QPointF &gt; &amp;sourcePoints)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Maps a set of points using an homography.  <a href="group__qvprojectivegeometry.html#ga57f5860ede7f1c5cc138a08a9770debd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 1 &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga16d78d75712d628864cbfcd0e9622052">applyHomography</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;homography, const <a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 1 &gt; &amp;image, const int interpolation=IPPI_INTER_CUBIC)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Performs an homography distortion on an image.  <a href="group__qvprojectivegeometry.html#ga16d78d75712d628864cbfcd0e9622052"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 3 &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#gab759381f29a49e65fb47b7e377705e8f">applyHomography</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;homography, const <a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 3 &gt; &amp;image, const int interpolation=IPPI_INTER_CUBIC)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Performs an homography distortion on an image.  <a href="group__qvprojectivegeometry.html#gab759381f29a49e65fb47b7e377705e8f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga017edd807b040c198a02733e4b81e1df">getCameraPosesFromEssentialMatrix</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;E, <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;R1, <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;R2, <a class="el" href="classQV3DPointF.html">QV3DPointF</a> &amp;t)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Decomposes an essential matrix and obtains the corresponding pair of camera poses.  <a href="group__qvprojectivegeometry.html#ga017edd807b040c198a02733e4b81e1df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga5b7c05c6c12bb5c005f00cd838fd436b">testCheiralityForCameraPoses</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;sourceRt, const QPointF &amp;sourceProjection, const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;destRt, const QPointF &amp;destProjection)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Tests if two camera poses satisfy the cheirality condition for the reconstruction of a 3D point.  <a href="group__qvprojectivegeometry.html#ga5b7c05c6c12bb5c005f00cd838fd436b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVMatrix.html">QVMatrix</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#gae1435ef34731a4088d1c45deab3d3ba5">linearCameraResection</a> (const QList&lt; QPointF &gt; &amp;points2d, const QList&lt; <a class="el" href="classQV3DPointF.html">QV3DPointF</a> &gt; &amp;points3d)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Obtains the camera matrix from a set of correspondences between 3D points and their respective image projections.  <a href="group__qvprojectivegeometry.html#gae1435ef34731a4088d1c45deab3d3ba5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQV3DPointF.html">QV3DPointF</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga8d7cc4afd681a8c0251b975f5d303436">linear3DPointTriangulation</a> (const QVector&lt; <a class="el" href="classQVMatrix.html">QVMatrix</a> &gt; &amp;cameraMatrices, const QHash&lt; int, QPointF &gt; &amp;projectionsOfAPoint, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of a 3D point from its projection on several views, and their corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#ga8d7cc4afd681a8c0251b975f5d303436"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQV3DPointF.html">QV3DPointF</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga1d52c9946346c83aea79f1f2311b44ef">linear3DPointTriangulation</a> (const QList&lt; <a class="el" href="classQVMatrix.html">QVMatrix</a> &gt; &amp;cameraMatrices, const QList&lt; QPointF &gt; &amp;projectionsOfAPoint, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of a 3D point from its projection on several views, and their corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#ga1d52c9946346c83aea79f1f2311b44ef"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQV3DPointF.html">QV3DPointF</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#gabaa689662af5c3e513041ef1a7c97117">linear3DPointTriangulation</a> (const QPointF &amp;point1, const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;P1, const QPointF &amp;point2, const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;P2, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of a 3D point from its projection on two images, and their corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#gabaa689662af5c3e513041ef1a7c97117"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQV3DPointF.html">QV3DPointF</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga3d79b8259c6cf0dfbd6fbbc4d1f8f968">linear3DPointTriangulation</a> (const <a class="el" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a> &amp;matching, const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;P1, const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;P2, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of a 3D point from its projection on two images, and their corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#ga3d79b8259c6cf0dfbd6fbbc4d1f8f968"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQV3DPointF.html">QV3DPointF</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga67b250d99026dad89a8f1006ab8e4fe1">linear3DPointTriangulation</a> (const <a class="el" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a> &amp;matching, const <a class="el" href="classQVCameraPose.html">QVCameraPose</a> &amp;pose1, const <a class="el" href="classQVCameraPose.html">QVCameraPose</a> &amp;pose2, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of a 3D point from its projection on two images, and their corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#ga67b250d99026dad89a8f1006ab8e4fe1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">QList&lt; <a class="el" href="classQV3DPointF.html">QV3DPointF</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga145fc6ee66fb884fa959a00400744570">linear3DPointsTriangulation</a> (const QList&lt; <a class="el" href="classQVEuclideanMapping3.html">QVEuclideanMapping3</a> &gt; &amp;cameras, const QList&lt; QHash&lt; int, QPointF &gt; &gt; &amp;pointProjections, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of several 3D points from their projections on different views, and the corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#ga145fc6ee66fb884fa959a00400744570"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">QList&lt; <a class="el" href="classQV3DPointF.html">QV3DPointF</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga2213ce30fd6ab62c46e482fd9fec6397">linear3DPointsTriangulation</a> (const QList&lt; <a class="el" href="classQVEuclideanMapping3.html">QVEuclideanMapping3</a> &gt; &amp;cameras, const QVector&lt; QHash&lt; int, QPointF &gt; &gt; &amp;pointProjections, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of several 3D points from their projections on different views, and the corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#ga2213ce30fd6ab62c46e482fd9fec6397"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">QList&lt; <a class="el" href="classQV3DPointF.html">QV3DPointF</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga7ad9c59ab6cdc91ac4c908e1d2f95174">linear3DPointsTriangulation</a> (const QList&lt; <a class="el" href="classQVCameraPose.html">QVCameraPose</a> &gt; &amp;cameras, const QList&lt; QHash&lt; int, QPointF &gt; &gt; &amp;pointProjections, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of several 3D points from their projections on different views, and the corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#ga7ad9c59ab6cdc91ac4c908e1d2f95174"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">QList&lt; <a class="el" href="classQV3DPointF.html">QV3DPointF</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga867d933e04eb6e85cd89b9604592b0c9">linear3DPointsTriangulation</a> (const QList&lt; <a class="el" href="classQVCameraPose.html">QVCameraPose</a> &gt; &amp;cameras, const QVector&lt; QHash&lt; int, QPointF &gt; &gt; &amp;pointProjections, const <a class="el" href="group__qvmatrixalgebra.html#gad753ba41cd08df7e8d4173d8c2ac2575">TQVSVD_Method</a> method=DEFAULT_TQVSVD_METHOD)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Recovers the location of several 3D points from their projections on different views, and the corresponding camera matrices.  <a href="group__qvprojectivegeometry.html#ga867d933e04eb6e85cd89b9604592b0c9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#gabb623dbd849917dc8f20dbcbf775ff22">getCameraFocals</a> (const QList&lt; <a class="el" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a> &gt; &amp;matchings, double &amp;focal1, double &amp;focal2, const QPointF principalPoint1=QPointF(0.0, 0.0), const QPointF principalPoint2=QPointF(0.0, 0.0), const <a class="el" href="group__qvnumericalanalysis.html#gad24495d3074466956a7da56fabf2d0e7">GSLMultiminFDFMinimizerType</a> gslMinimizerAlgorithm=VectorBFGS, const int optimizationIterations=50)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Estimates the focal lengths for two cameras,.  <a href="group__qvprojectivegeometry.html#gabb623dbd849917dc8f20dbcbf775ff22"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#gafebb00bc1698d22fdb6875a6a5d70c24">computeCameraFocalFromPlanarHomography</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;H, int w, int h, bool byzero=false)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Compute camera focal from a planar homography.  <a href="group__qvprojectivegeometry.html#gafebb00bc1698d22fdb6875a6a5d70c24"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVCameraPose.html">QVCameraPose</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__qvprojectivegeometry.html#ga53841f2498e0f94b889bac1134135e43">getCameraPoseFromCalibratedHomography</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;K, const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;H)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Estimates the camera pose form the intrinsic calibration and a planar homography.  <a href="group__qvprojectivegeometry.html#ga53841f2498e0f94b889bac1134135e43"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>File from the QVision library. </p>
<dl class="author"><dt><b>Author:</b></dt><dd>PARP Research Group. University of Murcia, Spain. </dd></dl>

<p>Definition in file <a class="el" href="qvmath_2qvprojective_8h_source.html">qvprojective.h</a>.</p>
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<br /><hr><br />
<center><a href="http://perception.inf.um.es/QVision">QVision framework</a>.
<a href="http://perception.inf.um.es">PARP research group</a>.
Copyright &copy; 2007, 2008, 2009, 2010, 2011.</center>
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